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Complete Area Coverage Path-Planning with Arbitrary Shape Obstacles

Gene Eu Jan 1, Chaomin Luo 1, and Hsien-Tang Lin 3, and Kevin Fung4
1. Graduate Institute of Animation and Film Art, Tainan National University of the Arts, Tainan City, Taiwan
2. Department of Electrical and Computer Engineering, Mississippi State University, Mississippi, USA
3. Department of Electrical Engineering, National Taipei University, New Taipei City, Taiwan
4. Department of Industrial Engineering and Engineering Management, National Tsing Hua University, Hsinchu, Taiwan
Abstract—This article presents a quadtree data structured method for complete area coverage (CAC) path-planning in known environment with arbitrary shape obstacles by applying the concepts of contour map and spanning tree. Contour map can reduce the number of turns effectively. The results of this proposed method can achieve no overlapping with complete area coverage. The robot will start and end at the exact same point. 

Index Terms—complete area coverage; contour maps; quadtree; spanning tree

Cite: Gene Eu Jan, Chaomin Luo, Hsien-Tang Lin, and Kevin Fung, "Complete Area Coverage Path-Planning with Arbitrary Shape Obstacles," Journal of Automation and Control Engineering, Vol. 7, No. 2, pp. 80-85, December, 2019. doi: 10.18178/joace.7.2.80-85
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